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implementation of * operator for Affine3f and point3d, initial implementation of isNaN

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This commit is contained in:
ozantonkal 2013-06-10 12:02:18 +02:00
parent c622ebf890
commit c4fe98977a
2 changed files with 25 additions and 0 deletions
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16
modules/viz/include/opencv2/viz/types.hpp
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@ -1,6 +1,7 @@
#pragma once #pragma once
#include <vector> #include <vector>
#include <boost/concept_check.hpp>
#include <opencv2/core/cvdef.h> #include <opencv2/core/cvdef.h>
#include <opencv2/core.hpp> #include <opencv2/core.hpp>
#include <opencv2/core/affine.hpp> #include <opencv2/core/affine.hpp>
@ -84,4 +85,19 @@ namespace temp_viz
inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); } inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); } template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
Point3d operator*(const Affine3f& affine, const Point3d& point);
inline bool isNaN( float x )
{
union { float f; unsigned int u; } v = { x };
return ((v.u & 0x7f800000) == 0x7f800000) && (v.u & 0x007fffff);
}
inline bool isNaN( double x )
{
union { double d; unsigned int u[2]; } v = { x };
return (v.u[1] & 0x7ff00000) == 0x7ff00000 &&
(v.u[0] != 0 || (v.u[1] & 0x000fffff) != 0);
}
} }

9
modules/viz/src/types.cpp
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@ -22,3 +22,12 @@ temp_viz::Color temp_viz::Color::white() { return Color(255, 255, 255); }
temp_viz::Color temp_viz::Color::gray() { return Color(128, 128, 128); } temp_viz::Color temp_viz::Color::gray() { return Color(128, 128, 128); }
temp_viz::Point3d temp_viz::operator*(const temp_viz::Affine3f& affine, const temp_viz::Point3d& point)
{
const temp_viz::Matx44f& m = affine.matrix;
temp_viz::Point3d result;
result.x = m.val[0] * point.x + m.val[1] * point.y + m.val[ 2] * point.z + m.val[ 3];
result.y = m.val[4] * point.x + m.val[5] * point.y + m.val[ 6] * point.z + m.val[ 7];
result.z = m.val[8] * point.x + m.val[9] * point.y + m.val[10] * point.z + m.val[11];
return result;
}